diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 389b16fc12bb8810baf1bb53f67ff217d24512ba..7c91cda54d817f844db7f3693aa864416fb64ff0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -322,9 +322,10 @@ then
fi
# teraranger one tof sensor
-if param compare SENS_EN_TRONE 1
+if param compare SENS_EN_TRANGER 0
then
- trone start
+else
+ teraranger start
fi
# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
diff --git a/cmake/configs/nuttx_aerocore2_default.cmake b/cmake/configs/nuttx_aerocore2_default.cmake
index a6a79bfe4209f355c8628e109d2146a031eb118d..836c049b8ac69308c285a88601e8553defac1c22 100644
--- a/cmake/configs/nuttx_aerocore2_default.cmake
+++ b/cmake/configs/nuttx_aerocore2_default.cmake
@@ -20,7 +20,7 @@ set(config_module_list
drivers/lsm303d
drivers/l3gd20
drivers/ms5611
- drivers/trone
+ drivers/teraranger
drivers/gps
drivers/pwm_out_sim
drivers/airspeed
diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake
index c5b774cf55b1c5ba3787a00248b5b4d02a5c2dd7..89aca889b1629aada0174a63882ad553d5bdcce8 100644
--- a/cmake/configs/nuttx_auav-x21_default.cmake
+++ b/cmake/configs/nuttx_auav-x21_default.cmake
@@ -28,7 +28,7 @@ set(config_module_list
drivers/sf0x
drivers/sf1xx
drivers/ll40ls
- drivers/trone
+ drivers/teraranger
drivers/gps
drivers/pwm_out_sim
drivers/hott
diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index 07c9e1f04552e17ef99a194a272abf4ad9e85816..c4697a132a47ba5916c9ee8d12f345e297c7c39f 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -31,7 +31,7 @@ set(config_module_list
drivers/sf0x
drivers/sf1xx
drivers/ll40ls
- drivers/trone
+ drivers/teraranger
drivers/gps
drivers/pwm_out_sim
#drivers/hott
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 40a7ab4dd79e2fd6ea6bffdb573e488ce08ba9fd..4774968bd05eb3a20f9abaef79d023918cb62bfb 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -29,7 +29,7 @@ set(config_module_list
#drivers/srf02
drivers/sf0x
drivers/ll40ls
- drivers/trone
+ drivers/teraranger
drivers/gps
drivers/pwm_out_sim
#drivers/hott
diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake
index 36f2bf3ae4f2e45b7210d59afdef35b414cc31a7..e0e0fbf40841d2e9858c03cc02255808217bb758 100644
--- a/cmake/configs/nuttx_px4fmu-v2_test.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake
@@ -29,7 +29,7 @@ set(config_module_list
#drivers/srf02
#drivers/sf0x
#drivers/ll40ls
- #drivers/trone
+ #drivers/teraranger
drivers/gps
#drivers/pwm_out_sim
#drivers/hott
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index a2654535fd6f58cade4c0eec4946b73c846c8164..4f02678440fc176eb4ffac7b403603c603c8031c 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -54,7 +54,7 @@ set(config_module_list
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
- drivers/trone
+ drivers/teraranger
drivers/vmount
modules/sensors
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index a7be2539427fc1c10bf3ced06589014de38688c3..33a03d7b9dbd9ef19af91a2b27a2c02e3f8f0ce9 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -55,7 +55,7 @@ set(config_module_list
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
- drivers/trone
+ drivers/teraranger
drivers/vmount
modules/sensors
diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
index 1b61fa64c793911139f3d95b6a3fe4a7e68634d3..ba07fecb3c30015ff615915235a845d803175ec0 100644
--- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
@@ -55,7 +55,7 @@ set(config_module_list
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
- drivers/trone
+ drivers/teraranger
drivers/vmount
modules/sensors
diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake
index c0ddb71c070def50c629a1a27fdfca5a50705183..36426f8ea3c920016c969b5e1154caf9038a4569 100644
--- a/cmake/configs/nuttx_px4fmu-v5_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake
@@ -55,7 +55,7 @@ set(config_module_list
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
- drivers/trone
+ drivers/teraranger
drivers/vmount
modules/sensors
diff --git a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
index 2f2a0ec34d71dc571aefc690d21d9f7c53b67b9e..158d043f6d36f466e53725b5b19e4cc42c6180e6 100644
--- a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
+++ b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
@@ -50,7 +50,7 @@ set(config_module_list
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
- drivers/trone
+ drivers/teraranger
modules/sensors
#
diff --git a/src/drivers/trone/CMakeLists.txt b/src/drivers/teraranger/CMakeLists.txt
similarity index 93%
rename from src/drivers/trone/CMakeLists.txt
rename to src/drivers/teraranger/CMakeLists.txt
index 2c208b837272e920b9e21789e3a7cf3289c6d3e1..6d1e8cfc47d0aa2fae6658ed44a00b7362535889 100644
--- a/src/drivers/trone/CMakeLists.txt
+++ b/src/drivers/teraranger/CMakeLists.txt
@@ -1,6 +1,6 @@
############################################################################
#
-# Copyright (c) 2015 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -31,12 +31,12 @@
#
############################################################################
px4_add_module(
- MODULE drivers__trone
- MAIN trone
+ MODULE drivers__teraranger
+ MAIN teraranger
STACK_MAIN 1200
COMPILE_FLAGS
SRCS
- trone.cpp
+ teraranger.cpp
DEPENDS
platforms__common
)
diff --git a/src/drivers/trone/trone.cpp b/src/drivers/teraranger/teraranger.cpp
similarity index 82%
rename from src/drivers/trone/trone.cpp
rename to src/drivers/teraranger/teraranger.cpp
index a18a4bbe17636ad0ce80601b00283163e4b02cd9..6485015d344adb3a6626a99b776cfe33de2fcd8e 100644
--- a/src/drivers/trone/trone.cpp
+++ b/src/drivers/teraranger/teraranger.cpp
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -32,7 +32,7 @@
****************************************************************************/
/**
- * @file trone.cpp
+ * @file teraranger.cpp
* @author Luis Rodrigues
*
* Driver for the TeraRanger One range finders connected via I2C.
@@ -74,32 +74,35 @@
#include <board_config.h>
/* Configuration Constants */
-#define TRONE_BUS PX4_I2C_BUS_EXPANSION
+#define TERARANGER_BUS PX4_I2C_BUS_EXPANSION
#define TRONE_BASEADDR 0x30 /* 7-bit address */
-#define TRONE_DEVICE_PATH "/dev/trone"
+#define TREVO_BASEADDR 0x31 /* 7-bit address */
+#define TERARANGER_DEVICE_PATH "/dev/teraranger"
-/* TRONE Registers addresses */
+/* TERARANGER Registers addresses */
-#define TRONE_MEASURE_REG 0x00 /* Measure range register */
-#define TRONE_WHO_AM_I_REG 0x01 /* Who am I test register */
-#define TRONE_WHO_AM_I_REG_VAL 0xA1
+#define TERARANGER_MEASURE_REG 0x00 /* Measure range register */
+#define TERARANGER_WHO_AM_I_REG 0x01 /* Who am I test register */
+#define TERARANGER_WHO_AM_I_REG_VAL 0xA1
/* Device limits */
#define TRONE_MIN_DISTANCE (0.20f)
#define TRONE_MAX_DISTANCE (14.00f)
+#define TREVO_MIN_DISTANCE (0.50f)
+#define TREVO_MAX_DISTANCE (60.0f)
-#define TRONE_CONVERSION_INTERVAL 50000 /* 50ms */
+#define TERARANGER_CONVERSION_INTERVAL 50000 /* 50ms */
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
-class TRONE : public device::I2C
+class TERARANGER : public device::I2C
{
public:
- TRONE(int bus = TRONE_BUS, int address = TRONE_BASEADDR);
- virtual ~TRONE();
+ TERARANGER(int bus = TERARANGER_BUS, int address = TRONE_BASEADDR);
+ virtual ~TERARANGER();
virtual int init();
@@ -222,12 +225,12 @@ static uint8_t crc8(uint8_t *p, uint8_t len)
/*
* Driver 'main' command.
*/
-extern "C" __EXPORT int trone_main(int argc, char *argv[]);
+extern "C" __EXPORT int teraranger_main(int argc, char *argv[]);
-TRONE::TRONE(int bus, int address) :
- I2C("TRONE", TRONE_DEVICE_PATH, bus, address, 100000),
- _min_distance(TRONE_MIN_DISTANCE),
- _max_distance(TRONE_MAX_DISTANCE),
+TERARANGER::TERARANGER(int bus, int address) :
+ I2C("TERARANGER", TERARANGER_DEVICE_PATH, bus, address, 100000),
+ _min_distance(-1.0f),
+ _max_distance(-1.0f),
_reports(nullptr),
_sensor_ok(false),
_valid(0),
@@ -249,7 +252,7 @@ TRONE::TRONE(int bus, int address) :
memset(&_work, 0, sizeof(_work));
}
-TRONE::~TRONE()
+TERARANGER::~TERARANGER()
{
/* make sure we are truly inactive */
stop();
@@ -269,13 +272,60 @@ TRONE::~TRONE()
}
int
-TRONE::init()
+TERARANGER::init()
{
int ret = PX4_ERROR;
+ int hw_model;
+ param_get(param_find("SENS_EN_TRANGER"), &hw_model);
+
+ switch(hw_model){
+ case 0: /* Disabled */
+ DEVICE_LOG("Disabled");
+ return ret;
+
+ case 1: /* Autodetect */
+ /* Assume TROne */
+ set_address(TRONE_BASEADDR);
+ if(I2C::init() != OK)
+ {
+ set_address(TREVO_BASEADDR);
+ if (I2C::init() != OK)
+ {
+ goto out;
+ } else {
+ _min_distance = TREVO_MIN_DISTANCE;
+ _max_distance = TREVO_MAX_DISTANCE;
+ }
+ }
+ else
+ {
+ _min_distance = TRONE_MIN_DISTANCE;
+ _max_distance = TRONE_MAX_DISTANCE;
+ }
+ break;
- /* do I2C init (and probe) first */
- if (I2C::init() != OK) {
- goto out;
+ case 2: /* TROne */
+ set_address(TRONE_BASEADDR);
+ if (I2C::init() != OK) {
+ goto out;
+ }
+ _min_distance = TRONE_MIN_DISTANCE;
+ _max_distance = TRONE_MAX_DISTANCE;
+ break;
+
+ case 3: /* TREvo */
+ set_address(TREVO_BASEADDR);
+ /* do I2C init (and probe) first */
+ if (I2C::init() != OK) {
+ goto out;
+ }
+ _min_distance = TREVO_MIN_DISTANCE;
+ _max_distance = TREVO_MAX_DISTANCE;
+ break;
+
+ default:
+ DEVICE_LOG("invalid HW model %d.", hw_model);
+ return ret;
}
/* allocate basic report buffers */
@@ -309,56 +359,53 @@ out:
}
int
-TRONE::probe()
+TERARANGER::probe()
{
uint8_t who_am_i = 0;
- const uint8_t cmd = TRONE_WHO_AM_I_REG;
+ const uint8_t cmd = TERARANGER_WHO_AM_I_REG;
- // set the I2C bus address
- set_address(TRONE_BASEADDR);
-
- // can't use a single transfer as TROne need a bit of time for internal processing
+ // can't use a single transfer as Teraranger needs a bit of time for internal processing
if (transfer(&cmd, 1, nullptr, 0) == OK) {
- if (transfer(nullptr, 0, &who_am_i, 1) == OK && who_am_i == TRONE_WHO_AM_I_REG_VAL) {
+ if (transfer(nullptr, 0, &who_am_i, 1) == OK && who_am_i == TERARANGER_WHO_AM_I_REG_VAL) {
return measure();
}
}
DEVICE_DEBUG("WHO_AM_I byte mismatch 0x%02x should be 0x%02x\n",
(unsigned)who_am_i,
- TRONE_WHO_AM_I_REG_VAL);
+ TERARANGER_WHO_AM_I_REG_VAL);
// not found on any address
return -EIO;
}
void
-TRONE::set_minimum_distance(float min)
+TERARANGER::set_minimum_distance(float min)
{
_min_distance = min;
}
void
-TRONE::set_maximum_distance(float max)
+TERARANGER::set_maximum_distance(float max)
{
_max_distance = max;
}
float
-TRONE::get_minimum_distance()
+TERARANGER::get_minimum_distance()
{
return _min_distance;
}
float
-TRONE::get_maximum_distance()
+TERARANGER::get_maximum_distance()
{
return _max_distance;
}
int
-TRONE::ioctl(struct file *filp, int cmd, unsigned long arg)
+TERARANGER::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
@@ -385,7 +432,7 @@ TRONE::ioctl(struct file *filp, int cmd, unsigned long arg)
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
- _measure_ticks = USEC2TICK(TRONE_CONVERSION_INTERVAL);
+ _measure_ticks = USEC2TICK(TERARANGER_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start) {
@@ -404,7 +451,7 @@ TRONE::ioctl(struct file *filp, int cmd, unsigned long arg)
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
- if (ticks < USEC2TICK(TRONE_CONVERSION_INTERVAL)) {
+ if (ticks < USEC2TICK(TERARANGER_CONVERSION_INTERVAL)) {
return -EINVAL;
}
@@ -472,7 +519,7 @@ TRONE::ioctl(struct file *filp, int cmd, unsigned long arg)
}
ssize_t
-TRONE::read(struct file *filp, char *buffer, size_t buflen)
+TERARANGER::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct distance_sensor_s);
struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
@@ -513,7 +560,7 @@ TRONE::read(struct file *filp, char *buffer, size_t buflen)
}
/* wait for it to complete */
- usleep(TRONE_CONVERSION_INTERVAL);
+ usleep(TERARANGER_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
@@ -532,14 +579,14 @@ TRONE::read(struct file *filp, char *buffer, size_t buflen)
}
int
-TRONE::measure()
+TERARANGER::measure()
{
int ret;
-
+
/*
* Send the command to begin a measurement.
*/
- const uint8_t cmd = TRONE_MEASURE_REG;
+ const uint8_t cmd = TERARANGER_MEASURE_REG;
ret = transfer(&cmd, sizeof(cmd), nullptr, 0);
if (OK != ret) {
@@ -554,7 +601,7 @@ TRONE::measure()
}
int
-TRONE::collect()
+TERARANGER::collect()
{
int ret = -EIO;
@@ -608,14 +655,14 @@ TRONE::collect()
}
void
-TRONE::start()
+TERARANGER::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_reports->flush();
/* schedule a cycle to start things */
- work_queue(HPWORK, &_work, (worker_t)&TRONE::cycle_trampoline, this, 1);
+ work_queue(HPWORK, &_work, (worker_t)&TERARANGER::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {};
@@ -635,21 +682,21 @@ TRONE::start()
}
void
-TRONE::stop()
+TERARANGER::stop()
{
work_cancel(HPWORK, &_work);
}
void
-TRONE::cycle_trampoline(void *arg)
+TERARANGER::cycle_trampoline(void *arg)
{
- TRONE *dev = (TRONE *)arg;
+ TERARANGER *dev = (TERARANGER *)arg;
dev->cycle();
}
void
-TRONE::cycle()
+TERARANGER::cycle()
{
/* collection phase? */
if (_collect_phase) {
@@ -668,13 +715,13 @@ TRONE::cycle()
/*
* Is there a collect->measure gap?
*/
- if (_measure_ticks > USEC2TICK(TRONE_CONVERSION_INTERVAL)) {
+ if (_measure_ticks > USEC2TICK(TERARANGER_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
- (worker_t)&TRONE::cycle_trampoline,
+ (worker_t)&TERARANGER::cycle_trampoline,
this,
- _measure_ticks - USEC2TICK(TRONE_CONVERSION_INTERVAL));
+ _measure_ticks - USEC2TICK(TERARANGER_CONVERSION_INTERVAL));
return;
}
@@ -691,13 +738,13 @@ TRONE::cycle()
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
- (worker_t)&TRONE::cycle_trampoline,
+ (worker_t)&TERARANGER::cycle_trampoline,
this,
- USEC2TICK(TRONE_CONVERSION_INTERVAL));
+ USEC2TICK(TERARANGER_CONVERSION_INTERVAL));
}
void
-TRONE::print_info()
+TERARANGER::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
@@ -708,10 +755,10 @@ TRONE::print_info()
/**
* Local functions in support of the shell command.
*/
-namespace trone
+namespace teraranger
{
-TRONE *g_dev;
+TERARANGER *g_dev;
void start();
void stop();
@@ -732,7 +779,7 @@ start()
}
/* create the driver */
- g_dev = new TRONE(TRONE_BUS);
+ g_dev = new TERARANGER(TERARANGER_BUS);
if (g_dev == nullptr) {
@@ -744,7 +791,7 @@ start()
}
/* set the poll rate to default, starts automatic data collection */
- fd = open(TRONE_DEVICE_PATH, O_RDONLY);
+ fd = open(TERARANGER_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
goto fail;
@@ -794,10 +841,10 @@ test()
ssize_t sz;
int ret;
- int fd = open(TRONE_DEVICE_PATH, O_RDONLY);
+ int fd = open(TERARANGER_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
- err(1, "%s open failed (try 'trone start' if the driver is not running", TRONE_DEVICE_PATH);
+ err(1, "%s open failed (try 'teraranger start' if the driver is not running", TERARANGER_DEVICE_PATH);
}
/* do a simple demand read */
@@ -855,7 +902,7 @@ test()
void
reset()
{
- int fd = open(TRONE_DEVICE_PATH, O_RDONLY);
+ int fd = open(TERARANGER_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
@@ -891,41 +938,41 @@ info()
} // namespace
int
-trone_main(int argc, char *argv[])
+teraranger_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start")) {
- trone::start();
+ teraranger::start();
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
- trone::stop();
+ teraranger::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test")) {
- trone::test();
+ teraranger::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset")) {
- trone::reset();
+ teraranger::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
- trone::info();
+ teraranger::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 03d48a598d9d0d3d88c3a27f95fe1544fc08bcec..7baffd06ace2fd1e65b5a9a08f93f3329fcbb06c 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -1088,14 +1088,18 @@ PARAM_DEFINE_INT32(SENS_EN_SF0X, 0);
PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0);
/**
- * TeraRanger One (trone)
+ * TeraRanger Rangefinder (i2c)
*
* @reboot_required true
- *
- * @boolean
+ * @min 0
+ * @max 3
* @group Sensor Enable
+ * @value 0 Disabled
+ * @value 1 Autodetect
+ * @value 2 TROne
+ * @value 3 TREvo
*/
-PARAM_DEFINE_INT32(SENS_EN_TRONE, 0);
+PARAM_DEFINE_INT32(SENS_EN_TRANGER, 0);
/**
* Lightware SF1xx/SF20/LW20 laser rangefinder (i2c)